CN109459738A - A kind of more TOF cameras mutually avoid the method and system of interference - Google Patents
A kind of more TOF cameras mutually avoid the method and system of interference Download PDFInfo
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Abstract
The invention belongs to TOF camera ranging technology fields, the method and system of interference are mutually avoided more particularly to a kind of more TOF cameras, the following steps are included: the following steps are included: calculating the luminous interval time of different cameral according to the frame per second of camera and can mutually avoid the maximum camera quantity of interference；According to luminous interval time, successively control is less than or equal to the more cameras work of maximum camera quantity, to avoid interfering with each other when more camera work.By carrying out Time-sharing control to more TOF cameras in Same Scene, avoids a camera from receiving the light issued from other cameras, to avoid interfering with each other when more camera work, realize the accurate ranging of camera.
Description
Technical field
The invention belongs to TOF camera ranging technology fields, and in particular to a kind of more TOF cameras mutually avoid the side of interference
Method and system.
Background technique
TOF is the abbreviation of flight time (Time of Flight) technology, i.e., camera emits light, after being irradiated to body surface
Light is reflected to be received by sensor, calculates the distance for the scenery that is taken by calculating light transmitting and received time difference,
To generate depth information.With it is traditional based on the method for binocular ranging or structure light measurement compared with, TOF measurement have by environment light
Influence small, the advantages such as unrelated with article surface vein feature.
But when there are when more TOF cameras, can generate interference problem, such as the sending of A camera between different cameral in scene
Light received by B camera, cause B camera can not normally calculate object to B camera distance；The light that similarly B camera issues also can
Received by A camera, cause A camera can not accurately calculate object to A camera distance.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of more TOF cameras mutually avoid interference method and
System avoids a camera from receiving from other cameras by carrying out Time-sharing control to more TOF cameras in Same Scene
The light of sending realizes the accurate ranging of camera to avoid interfering with each other when more camera work.
In a first aspect, the present invention provides a kind of methods that more TOF cameras mutually avoid interference, comprising the following steps:
According to the frame per second of camera, calculates the luminous interval time of different cameral and can mutually avoid the maximum camera number of interference
Amount；
According to luminous interval time, successively control is less than or equal to the more cameras work of maximum camera quantity, to avoid
Interfering with each other when more camera work.
Preferably, further comprising the steps of:
All cameras, which are controlled, according to the synchronization request of setting time or camera carries out time synchronization.
Preferably, the frame per second according to camera calculates the luminous interval time of different cameral and can mutually avoid interfering
Maximum camera quantity, specifically:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, c
For the light velocity, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
Preferably, the TOIn time, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions.
Preferably, according to luminous interval time, successively control is less than or equal to the more cameras work of maximum camera quantity, from
And interfering with each other when more camera work is avoided, specifically:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment, control
Make the start-up operation of M platform camera；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment, control
The start-up operation of K platform camera is made, to avoid interfering with each other when more camera work.
Second aspect, the present invention provides a kind of systems that more TOF cameras mutually avoid interference, are suitable for first aspect
The method that the more TOF cameras mutually avoid interference, is communicated including more TOF cameras and with every TOF camera
Remote server, the remote server include:
Camera number calculating section calculates luminous interval time and the energy phase of different cameral for the frame per second according to camera
Mutually avoid the maximum camera quantity of interference；
Camera emission control module, for according to the interval time that shines, successively control to be less than or equal to maximum camera quantity
More camera work, to avoid interfering with each other when more camera work.
Preferably, the remote server further includes camera time synchronization module；The camera time synchronization module is used for
All cameras, which are controlled, according to the synchronization request of setting time or camera carries out time synchronization.
Preferably, the camera data computing module, is specifically used for:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, c
For the light velocity, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
Preferably, the TOIn time, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions.
Preferably, the camera emission control module, is specifically used for:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment, control
Make the start-up operation of M platform camera；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment, control
The start-up operation of K platform camera is made, to avoid interfering with each other when more camera work.
The invention has the benefit that avoiding one by carrying out Time-sharing control to more TOF cameras in Same Scene
Camera receives the light issued from other cameras, to avoid interfering with each other when more camera work, realizes the standard of camera
True ranging.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the method flow diagram that more TOF cameras mutually avoid interference in the present embodiment；
Fig. 2 is the system construction drawing that more TOF cameras mutually avoid interference in the present embodiment；
Fig. 3 is more TOF camera working sequence schematic diagrames in the present embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, operation, the presence of element and/or component, but one or more of the other feature, entirety, behaviour is not precluded
The presence or addition of work, element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
Embodiment one:
In a first aspect, a kind of method that more TOF cameras mutually avoid interference is present embodiments provided, as shown in Figure 1, packet
Include two steps of following S1 and S2:
S1 calculates the luminous interval time of different cameral and can mutually avoid the maximum phase of interference according to the frame per second of camera
Machine quantity.This step specifically:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, c
For the light velocity, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1, i.e. α is to be less than T greater than 01Parameter；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
According to the working principle of current TOF camera, the time for emitting light and reception light is only taken up in every frame time seldom
A part, most time is for handling received signal in every frame time, therefore the present embodiment is every by control
The different operating time of more cameras in frame time avoids a camera from receiving the light of other cameras transmitting, to avoid more
Interfering with each other when camera works.
The working frequency of more cameras is identical in the present embodiment, frame per second be also it is identical, calculated according to frame per second every
Frame time.Such as frame per second n=30, then every frame time T1=1/n=33.33ms；If camera single fluorescent lifetime T0For 200us,
TOIn time, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions, if the luminous energy irradiation of camera transmitting
Optimal distance be 100m, then T2=T0+ 2d/c=200.67us, T2For the single operating time of camera, T2Much smaller than T1, therefore
More cameras can control to work in every frame time in different moments；Cause to do in order to avoid the working time of different cameral is overlapped
When disturbing, therefore calculating the luminous interval time of camera, shine interval time T3It is greater than and is equal to T2If α=0, then shine interval
Time T3=T2=200.67us；Calculate the maximum camera quantity that can mutually avoid interference
S2, according to luminous interval time, successively control is less than or equal to the more cameras work of maximum camera quantity, to keep away
Interfering with each other when exempting from more camera work.This step specifically:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment, control
Make the start-up operation of M platform camera；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment, control
The start-up operation of K platform camera is made, to avoid interfering with each other when more camera work.
In the present embodiment, by above-mentioned calculating, maximum camera quantity is 166, when the camera quantity of scene is more than 166
When platform, interference will be generated, therefore when the camera quantity in scene is more than 166, can control or keep number super by agreement
The camera for crossing 166 shuts down transmitting light and receives light, to avoid the interference to other cameras.Thus maximum camera quantity and camera
Frame per second be relevant, therefore maximum camera quantity can be increased by reducing the frame per second of camera, such as when n=15, then it is maximum
Camera quantity is 332, in practical applications, can be according to the maximum corresponding camera of camera quantity configuration of calculating.
In the present embodiment, such as camera quantity is 7, as shown in figure 3, in the t of certain frame1The transmitting of moment First camera
Light and reception light, the operating time of First camera are 200.67us；Behind interval time 200.67, First camera work knot
Beam, in t2=t1At+200.67us the moment, second camera work, the operating time of second camera is also 200.67us；When again
After minor tick 200.67, second camera work terminates, in t3=t1+ 401.34us moment, the work of third platform camera；Successively class
It pushes away, in t7=t1+ 1204.02us, the 6th camera work terminate, the 7th camera work；Later in a frame, repeat above-mentioned
The course of work, thus realize time sharing mode of the more cameras in different moments in every frame, when more cameras being avoided to work
It interferes with each other.In the present embodiment, the working time of different cameral is configured, it can be by under the remote server that is communicated with every camera
It says the word, it can also be by being configured between different cameral by agreement.
The more TOF cameras of the present embodiment mutually avoid interference method it is further comprising the steps of: according to setting the time or
The synchronization request of camera controls all cameras and carries out time synchronization.Clock apparatus can be added in this example in every camera, i.e., often
Platform camera is synchronized using identical clock, and all cameras carry out timing by identical clock.It can be carried out according to the setting time
It is synchronous, for example, all camera intervals synchronize within 1 hour or certain camera be interfered after actively initiated to remote server it is same
Step request, remote server sending time synchronic command gives all cameras, to realize the time synchronization of all cameras.
In conclusion the present embodiment does not need to modify to existing TOF measurement principle, do not need to shine to camera yet
Do any modulation, it is only necessary to control camera fluorescent lifetime, Time-sharing control can be carried out to more cameras in Same Scene, avoided
Interference between different cameral, to realize the accurate ranging of TOF camera.
Embodiment two: a kind of system that more TOF cameras mutually avoid interference is present embodiments provided, is suitable for implementing one
The more TOF cameras mutually avoid interference method, as shown in Fig. 2, include more TOF cameras and with every TOF camera
The remote server communicated, the remote server include camera number calculating section, camera emission control module, camera
Time synchronization module etc..
The camera number calculating section, for the frame per second according to camera, calculate different cameral luminous interval time and
The maximum camera quantity of interference can mutually be avoided.This module is specifically used for:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, c
For the light velocity, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1, i.e. α is to be less than T greater than 01Parameter；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
According to the working principle of current TOF camera, the time for emitting light and reception light is only taken up in every frame time seldom
A part, most time is for handling received signal in every frame time, therefore the present embodiment is every by control
The different operating time of more cameras in frame time avoids a camera from receiving the light of other cameras transmitting, to avoid more
Interfering with each other when camera works.
The working frequency of more cameras is identical in the present embodiment, frame per second be also it is identical, calculated according to frame per second every
Frame time.Such as frame per second n=30, then every frame time T1=1/n=33.33ms；If camera single fluorescent lifetime T0For 200us,
TOIn time, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions, if the luminous energy irradiation of camera transmitting
Optimal distance be 100m, then T2=T0+ 2d/c=200.67us, T2For the single operating time of camera, T2Much smaller than T1, therefore
More cameras can control to work in every frame time in different moments；Cause to do in order to avoid the working time of different cameral is overlapped
When disturbing, therefore calculating the luminous interval time of camera, shine interval time T3It is greater than and is equal to T2If α=0, then shine interval
Time T3=T2=200.67us；Calculate the maximum camera quantity that can mutually avoid interference
The camera emission control module, for according to the interval time that shines, successively control to be less than or equal to maximum camera number
The more cameras work of amount, to avoid interfering with each other when more camera work.This module is specifically used for:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment, control
Make the start-up operation of M platform camera；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second phase
Machine is started to work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment, control
The start-up operation of K platform camera is made, to avoid interfering with each other when more camera work.
In the present embodiment, by above-mentioned calculating, maximum camera quantity is 166, when the camera quantity of scene is more than 166
When platform, interference will be generated, therefore when the camera quantity in scene is more than 166, can control or keep number super by agreement
The camera for crossing 166 shuts down transmitting light and receives light, to avoid the interference to other cameras.Thus maximum camera quantity and camera
Frame per second be relevant, therefore maximum camera quantity can be increased by reducing the frame per second of camera, such as when n=15, then it is maximum
Camera quantity is 332, in practical applications, can be according to the maximum corresponding camera of camera quantity configuration of calculating.
In the present embodiment, such as camera quantity is 7, as shown in figure 3, in the t of certain frame1The transmitting of moment First camera
Light and reception light, the operating time of First camera are 200.67us；Behind interval time 200.67, First camera work knot
Beam, in t2=t1At+200.67us the moment, second camera work, the operating time of second camera is also 200.67us；When again
After minor tick 200.67, second camera work terminates, in t3=t1+ 401.34us moment, the work of third platform camera；Successively class
It pushes away, in t7=t1+ 1204.02us, the 6th camera work terminate, the 7th camera work；Later in a frame, repeat above-mentioned
The course of work, thus realize time sharing mode of the more cameras in different moments in every frame, when more cameras being avoided to work
It interferes with each other.In the present embodiment, the working time of different cameral is configured, it can be by under the remote server that is communicated with every camera
It says the word, it can also be by being configured between different cameral by agreement.
The camera time synchronization module, for according to setting the time or camera synchronization request control all cameras into
Row time synchronization.Clock apparatus can be added in this example in every camera, i.e. every camera is synchronized using identical clock, institute
There is camera to carry out timing by identical clock.It can be synchronized according to the setting time, for example all camera intervals carry out together for 1 hour
Step or certain camera actively initiate synchronization request to remote server after being interfered, and remote server sending time, which synchronizes, to be referred to
It enables to all cameras, to realize the time synchronization of all cameras.
In conclusion the present embodiment does not need to modify to existing TOF measurement principle, do not need to shine to camera yet
Do any modulation, it is only necessary to control camera fluorescent lifetime, Time-sharing control can be carried out to more cameras in Same Scene, avoided
Interference between different cameral, to realize the accurate ranging of TOF camera.
Those of ordinary skill in the art may be aware that mould described in conjunction with the examples disclosed in the embodiments of the present disclosure
Block and method and step, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed method and system can pass through it
Its mode is realized.For example, with the division of upper module, in addition only a kind of logical function partition can have in actual implementation
Division mode, such as multiple module or components can be combined or can be integrated into another system or some features can be with
Ignore, or does not execute.Above-mentioned module may or may not be physically separated, and the component shown as module can be with
It is or may not be physical module, it can it is in one place, or may be distributed on multiple network modules.It can
The purpose of the embodiment of the present invention is realized to select some or all of the modules therein according to the actual needs.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of method that more TOF cameras mutually avoid interference, which comprises the following steps:
According to the frame per second of camera, calculates the luminous interval time of different cameral and can mutually avoid the maximum camera quantity of interference；
According to luminous interval time, successively control is less than or equal to the more cameras work of maximum camera quantity, to avoid more
Interfering with each other when camera works.
2. the method that more TOF cameras according to claim 1 mutually avoid interference, which is characterized in that further include following
Step:
All cameras, which are controlled, according to the synchronization request of setting time or camera carries out time synchronization.
3. the method that more TOF cameras according to claim 1 or 2 mutually avoid interference, which is characterized in that the basis
The frame per second of camera calculates the luminous interval time of different cameral and can mutually avoid the maximum camera quantity of interference, specifically:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, and c is light
Speed, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
4. the method that more TOF cameras according to claim 3 mutually avoid interference, which is characterized in that the TOTime
Interior, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions.
5. the method that more TOF cameras according to claim 3 mutually avoid interference, which is characterized in that between shining
Every the time, successively control is less than or equal to the more cameras work of maximum camera quantity, to avoid phase when more camera work
Mutually interference, specifically:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second camera and starts
Work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment controls M platform
Camera is started to work；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second camera and starts
Work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment controls K platform
Camera is started to work, to avoid interfering with each other when more camera work.
6. a kind of system that more TOF cameras mutually avoid interference, is suitable for the described in any item more TOF of claim 1-5
The method that camera mutually avoids interference, which is characterized in that communicated including more TOF cameras and with every TOF camera remote
Journey server, the remote server include:
Camera number calculating section calculates the luminous interval time of different cameral and can mutually keep away for the frame per second according to camera
Exempt from the maximum camera quantity of interference；
Camera emission control module, for according to the interval time that shines, successively control to be less than or equal to more of maximum camera quantity
Camera work, to avoid interfering with each other when more camera work.
7. the system that more TOF cameras according to claim 6 mutually avoid interference, which is characterized in that the long-range clothes
Business device further includes camera time synchronization module；The camera time synchronization module is used to be asked according to the synchronization of setting time or camera
It asks and controls all camera progress time synchronizations.
8. the system that more TOF cameras according to claim 6 or 7 mutually avoid interference, which is characterized in that the camera
Data computation module is specifically used for:
Calculate every frame time T1:
T1=1/n, wherein n is the frame per second of camera；
It calculates camera transmitting light and receives the time T between light2:
T2=T0+ 2d/c, wherein T0For camera single fluorescent lifetime, d is the maximum distance of the luminous energy irradiation of camera transmitting, and c is light
Speed, T0It is constant, c=2 × 10 with d8m/s；
Calculate the luminous interval time T of different cameral3:
T3=T2+ α, wherein 0≤α≤T1；
Calculate the maximum camera quantity K that can mutually avoid interference:
K=INT (T1/T3), INT () is the function being rounded downwards.
9. the system that more TOF cameras according to claim 8 mutually avoid interference, which is characterized in that the TOTime
Interior, the illumination mode of camera uses continuous luminous or discontinuous pulsed light emissions.
10. the system that more TOF cameras according to claim 9 mutually avoid interference, which is characterized in that the camera hair
Control module is penetrated, is specifically used for:
All cameras in scene are sequentially numbered from one to M, M is positive integer；
As M≤K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second camera and starts
Work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tM≥tM-1+T3Moment controls M platform
Camera is started to work；
As M > K, if t1Moment, control First camera are started to work；In t2≥t1+T3Moment controls second camera and starts
Work；In t3≥t2+T3Moment, control third platform camera are started to work；And so on, in tK≥tK-1+T3Moment controls K platform
Camera is started to work, to avoid interfering with each other when more camera work.
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| CN201810573457.XA CN109459738A (en) | 2018-06-06 | 2018-06-06 | A kind of more TOF cameras mutually avoid the method and system of interference |
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| CN201810573457.XA CN109459738A (en) | 2018-06-06 | 2018-06-06 | A kind of more TOF cameras mutually avoid the method and system of interference |
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| CN114643580A (en) * | 2022-03-29 | 2022-06-21 | 杭州海康机器人技术有限公司 | Robot control method, device and equipment |
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